Programmable controls for a winch

ABSTRACT

Methods and systems are provided for adjusting operation of a motor of a winch. In one example, a system for a winch includes a controller adapted to adjust operation of a motor of the winch based on one or more of and/or each of a winch load limit, a motor temperature, a distance of a hook coupled to an end of a rope of the winch to a winch fairlead, and an amount of rope wound onto a drum of the winch.

CROSS REFERENCE TO RELATED APPLICATIONS

The present application claims priority to U.S. Provisional PatentApplication No. 62/060,296, “PROGRAMMABLE CONTROLS FOR A WINCH,” filedon Oct. 6, 2014, the entire contents of which are hereby incorporated byreference for all purposes.

FIELD

The present application relates generally to systems and methods forcontrolling a winch.

SUMMARY/BACKGROUND

Vehicles, such as powersports vehicles, commercial/utility trucks usedin construction and by contractors, tow trucks, and other utilityvehicles are often equipped with auxiliary systems (e.g., accessories)such as winches, plows, lights, and compressors. Winches may bepre-programmed during manufacturing to operate within certain mechanicaland electrical operating limits. For example, winch operation may beconstrained within a set current limit that may relate to a pullingforce of the winch. As such, the winch may not operate above a set winchpulling force or supply current. As another example, a rotational speedof a drum of the winch may be based on the tension of the winch rope.Pre-set winch operation may cause the winch drum to rotate at a higherspeed when the tension on the winch rope is lower as compared to whenthe tension of the winch rope is higher. Further, the winch speed may bebased on a pre-set motor performance curve and may not be adjustableduring winch operation. Non-adjustable and pre-set winch operatingranges and parameters may result in decreased winch performance duringcertain winch applications.

Thus in one example, the above issues may be at least partiallyaddressed by a system for a winch including a controller adapted toadjust operation of a motor of the winch based on a load limit, the loadlimit automatically set by the controller to different levels dependingon a mode of the winch. In this way, a controller may adjust winch motoroperation based on a load limit based on a winch mode, therebyincreasing the efficiency and reducing degradation of the winch, evenwhen operating in different winching modes.

In another example, the above issues may be at least partially addressedby a method for adjusting a motor of the winch based on a load limit,the load limit automatically set by a winch controller to differentlevels depending on a mode of the winch. In this way, the motor of thewinch may be adjusted based on different operating modes of the winch.As a result, winch performance may be tailored to specific winchapplications, thereby resulting in increased winch performance.

It should be understood that the summary above is provided to introducein simplified form a selection of concepts that are further described inthe detailed description. It is not meant to identify key or essentialfeatures of the claimed subject matter, the scope of which is defineduniquely by the claims that follow the detailed description.Furthermore, the claimed subject matter is not limited toimplementations that solve any disadvantages noted above or in any partof this disclosure.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 shows a first embodiment of a winch.

FIG. 2 shows a schematic diagram of a winch control system.

FIG. 3 shows a flow chart of a method for adjusting motor operation of awinch.

FIG. 4 shows a flow chart of a method for adjusting the pulling force ofa winch.

FIG. 5 shows a flow chart of a method for adjusting winch operationbased on a hook proximity sensor of the winch.

FIG. 6 shows a flow chart of a method for adjusting a winch motor basedon a motor temperature.

FIG. 7 shows a flow chart of a method for adjusting motor operation of awinch based on a user selection of any one of several pre-programmedperformance profiles.

FIG. 8 shows a flow chart of a method for adjusting a winch motor topull a winch rope at a constant force and/or speed.

DETAILED DESCRIPTION

The following detailed description relates to systems and methods foradjusting winch motor operation based on an intended use of the winchand/or winch operating parameters. A winch, such as the winch shown inFIG. 1, may include a control module with instructions for adjustingwinch operation. Further, one or more auxiliary systems (or devices),separate from the winch, may be electrically coupled with the winchcontrol module. For example a plow may be installed on a same vehicle asa winch and be electrically coupled with the winch control module. Assuch, the winch control module may adjust operation of the auxiliarysystems by sending control signals (e.g., commands) to the auxiliarysystems. In one example, both winch operation and auxiliary systemoperation may be controlled with a controller in communication with thewinch control module, as shown by the schematic in FIG. 2. Through theseries of buttons and displays of a user interface, the winch controlmodule may allow a user to select from a variety of activity modes thatwill adjust motor operation to appropriately power the winch for thedesired activity as shown by the flow chart in FIG. 7. As an example, auser could select a constant load mode which would adjust winch motorvoltage and/or current to provide a constant pulling force, as shown inFIG. 8. However, all optional activity modes would operate under theconstraints of certain upper thresholds or pre-set limits for motortemperature, load, and hook proximity to the fairlead, so as to protectthe winch from potential damage, as shown by the flow charts in FIGS.4-6. Thus, the following description relates to systems and methods forproviding a seamless integration of safety features and electiveactivity modes for a winch, as shown by the flow chart in FIG. 3.

FIG. 1 shows an embodiment of a winch 10 that may be used in the controlsystem shown in FIG. 2 and adjusted using the methods described furtherbelow. As such, the methods described below with regard to FIGS. 3-8 maybe used to adjust motor operation of the winch embodiment shown in FIG.1 or another type winch or hoist system. FIG. 1 shows perspective viewof a front side of a first embodiment of a winch 10. The winch 10includes a motor assembly 12 drivingly connected to a gear reductionunit 14. The motor assembly 12 includes a motor for operating the winch10. The motor may be powered by a battery of a vehicle to which thewinch 10 is installed, as described further below. For example, thewinch 10 may be coupled to a front end of the vehicle. The motorprovides power to the gear reduction unit 14 and the gear reduction unit14 (e.g., transmission of the winch 10) provides driving torque to arotatable drum 16. The gear reduction unit 14 may include a remotecontrolled clutch inside the end housing. As shown in FIG. 1, therotatable drum 16 is a cylinder. A cable 18 (e.g., rope) with a hook 28at its end may be wound onto, or off from, the rotatable drum 16 toprovide various pulling operations. For example, based on the directionof rotation of the drum, the cable 18 may be wound out from (e.g., offthe drum) or into (e.g., into the drum) the winch 10. A fairlead 30guides the cable 18 and acts as a secure stopping point for the hook 28when being pulled in. In one example, the fairlead 30 may be attached tothe front of the winch. More specifically, the fairlead 30 may bepositioned in front of the drum 16 and may prevent the hook 28 frombeing pulled all the way inside the winch 10 and onto the drum 16. Inanother example, the fairlead 30 may be attached to the foremostposition of the vehicle (e.g., a vehicle front end), in front of thewinch 10 and drum 16. The fairlead 30 may be a rectangular plate with aslit wide enough to allow the cable 18 to pass through. However, theslit (e.g., opening) may be small enough to prevent the hook 28 frompassing through the opening.

A tie plate 20 may be disposed for connection between a first drumsupport 22 of the motor assembly 12 and a second drum support 24 of thegear reduction unit 14. A control until 26 may be removably mounted tothe tie plate 20. The control unit 26 provides electrical connectionsand component mounting in a single enclosure. In one example, thecontrol unit 26 is mounted to the tie plate 20. In another example, thecontrol unit 26 is mounted a short distance away from the winch 10 byusing a remote mounting kit. The first drum support 22 and the seconddrum support 24 provide a bearing support structure for rotatablysupporting the rotatable drum 16.

In one example, the winch 10 shown in FIG. 1 may be installed on avehicle such as a truck or another type of commercial vehicle.

Turning to FIG. 2, a schematic 200 shows a diagram of a winch 10 (shownin FIG. 1) and accessory control system. The system includes a winch 10electrically coupled to a user input portion 204. In FIG. 2, the solidlines between system components represent physical electricalconnections between the components. However, in some examples, one ormore of these electrical connections may be two-way wireless connectionsbetween the connected components. More specifically, the winch 10includes components of a winch (such as the components of winch 10 shownin FIG. 1) including a winch control module 216 and one or moreaccessories which are coupled to a vehicle in which the winch isinstalled. As one example, the winch control module 216 resides withinthe control unit 26 (shown in FIG. 1) which may be on or near the winch10. The user input portion 204 may be mounted inside the vehicle such ason the dashboard, handlebars, roll bars, or another vehicle location,and provide control signals to the winch control module 216 and receivefeedback signals from the winch control module 216. In another example,the user input portion 204 may be a wireless remote or another type ofwireless user interface. It should also be noted that the winch controlmodule 216 may communicate either wirelessly or through a wiredelectrical connection with a controller of the vehicle in which it isinstalled.

The winch portion (e.g., winch) 10 includes a winch motor 226 which ispositioned within the motor assembly 12 of the winch 10. A winch motorthermal sensor 206 may be coupled to the motor and measure a temperatureof the winch (e.g., a motor temperature). The winch 10 may also includea current and/or voltage sensor 208, a hook proximity sensor (e.g.,fairlead sensor) 210 coupled to the fairlead 30 and/or hook 28 formeasuring a distance between the hook and fairlead, an angular positionsensor (e.g., layer sensor) 212 which may be coupled to the drum 16,and/or a freespool clutch actuator 214 coupled to the winch. When theclutch of the winch 10 is disengaged from the winch transmission (e.g.,gear reduction unit 14) the drum may rotate freely without input fromthe gear reduction unit and motor. As such, the drum may be in afreespool position. In one example, the clutch actuator 214 is anelectrical device such as an electrical solenoid for shifting the winchtransmission into a disengaged state to move the drum into the freespoolposition and for shifting the transmission back into an engaged statewith the drum for normal winch powering in or powering out (e.g.,winching). Additionally, the winch 10 may include one or moreaccessories coupled to the vehicle. FIG. 2 shows a first accessory(e.g., first auxiliary system) 236.

As described above, the winch control module 216 is included in thecontrol unit 26 (shown in FIGS. 1-2) of the winch 10. The control unit26 of the winch 10 also includes a winch motor controller 224. Both thewinch motor controller 224 and the winch control module 216 areconnected to a vehicle battery 228. The winch control module 216provides control signals to the winch motor controller 224 which maysupply current from the vehicle battery 228 and to the winch motor 226.The winch control module 216 also controls the clutch actuator 214, asdescribed above. Additionally, an accessory such as the first accessory228 may be connected to the control module 216 at control inputs 222 ofthe control module 216 via an electrical coupling to an auxiliary portor another type of electrical connection. The control inputs 222 mayfurther include a winch contactor control input that communicates withthe winch controller 224. Additionally, the control inputs 222 mayinclude a winch clutch actuator input for communicating with the clutchactuator 214.

The winch control module 216 further includes a microcontroller unit(MCU) 218 containing programmable data for operating the winchcomponents and the plurality of accessories coupled to the winch controlmodule 216. For example, the winch control module 216 may providecontrol signals to the first accessory 236 via the MCU 218 and the firstaccessory 236 may provide feedback signals to the MCU 218 of the winchcontrol module 216. Further, the winch control module 216 may provide anelectrical connection between the vehicle battery 228 and the firstaccessory 236 through the associated control inputs.

The winch 10 may also be in communication with a vehicle Controller AreaNetwork (CAN) bus 252 for providing communication between the winchcontrol module 216 and a vehicle controller 290. The CAN bus 252 mayexchange information using a scheduled periodic rate. Specifically, thewinch control module 216 may include a CAN module 221, electricallycoupled to the MCU 218, for providing electronic communication betweenthe winch control module 216 and the CAN bus 252. The CAN module 221 mayconvert signals received from the MCU 218, into a CAN data stream, whichmay then be transmitted to the controller 290 via the CAN bus 252.Likewise, the CAN module may convert and relay the CAN data streamreceived from the controller 290 into an electrical signal interpretableby the MCU 218. CAN bus 252 may therefore provide electroniccommunication between the vehicle controller 290, and the CAN module221.

By connecting the winch control module 216 to the CAN bus 252, operationof the winch 10 may be adjusted based on a model of a vehicle to whichthe winch 10 is coupled and/or based on vehicle operating parameters.For example, the winch load rating may be adjusted based on a model of avehicle to which the winch 10 is coupled. Adjusting the winch loadrating based on the model of the vehicle may increase the accuracy ofestimations of the winch load rating. In this way, output of the winch10 may be increased while reducing degradation of the winch 10. Further,operation of the winch 10 may be adjusted based on vehicle operatingparameters such as any one or more of vehicle speed, vehicle incline,steering angle, engine temperature, brake pressure, engine load, chargestate of the battery 228, and current and/or voltage output from thebattery 228, etc. Specifically, one or more of the winch speed limit,load limit, and temperature limit may be adjusted based on vehicleoperating parameters. By adjusting winch operation based on the vehicleoperating conditions, winch performance may be increased under variousvehicle operating conditions, and degradation to the winch 10 may bereduced.

Additionally or alternatively, vehicle operation may be adjusted basedon current winch operating conditions. For example, the idle speed ofthe vehicle may be increased in response to powering on the winch 10,and/or winch load increasing above a threshold. Further, vehicleaccessories may be turned on or off in response to changes in the winchspeed, load, motor temperature, current and/or voltage draw, chargestate of the battery 228, and current and/or voltage output from thebattery 228, etc. By adjusting vehicle operation and/or power suppliedto vehicle accessories based on current winch operating conditions,winch performance may be increased, and an amount of electrical powerdrained from the battery 228 may be reduced. Said another way, theenergy efficiency of the winch and vehicle may be increased by couplingthe winch 10 to the CAN bus 252.

The winch 10 may additionally or alternatively be electrically coupledto a portion or all of vehicle signal wires 240. Specifically, the MCU218 of the winch control module 216 may be electrically coupled to allor a portion of the vehicle signals wires 240. By coupling the winch 10to the vehicle signal wires 240, winch operation may be adjusted basedon vehicle operating parameters. As an example, the MCU 218 may beelectrically coupled to a turn signal circuit of the vehicle signalswires 240. In this way, the winch 10 may only be powered on when anignition of the vehicle is turned on. In another example, the winch loadlimit may be adjusted via a dashboard switch. Thus, a vehicle operatormay adjust the winch load limit by manipulating a dashboard switch on adashboard of the vehicle. A power management module 220 of the winchcontrol module 216 may distribute power from the vehicle battery 228 tothe winch motor 226 and first accessory 236. Additionally, the winchcontrol module 216 may switch on or off the winch 10 and accessory(e.g., first accessory 236) electric power according to input commandsreceived from the user input portion 204. The control programming foroperating the power management module 220 resides within the MCU 218 ofthe winch control module 216.

In one embodiment, the communication between the winch control module216 and the user input portion 204 may be performed by a wiredconnection from the winch to the vehicle and in another embodiment thisconnection could be wireless.

The user input portion 204 also includes a microcontroller unit (MCU)230 for generating control signals to be sent to the winch 10. The MCU230 may contain programmable data (e.g., stored on a memory of the MCU230) for processing inputs received from one or more of a display 232and input buttons 234 of the user input portion 204. The MCU 230 maythen send signals corresponding to the received inputs to the MCU 218 ofthe winch control module 216, which may in turn accordingly adjustoperation of the winch and/or accessories. Additionally, the user inputportion 204 includes a power management module 238 which may beelectrically coupled to the vehicle battery 228. However, in anotherexample, the user input portion 204 may include its own dedicatedbattery 235, which may be coupled to the power management module 238 forproviding electrical power to the user input portion 204. Thus, in someexamples, the power management module 238 may be not be coupled to thevehicle battery 228 and may draw electrical power from only the battery235. In such examples, the user input portion 204 may be wirelesslyconnected to the winch control module 216. In FIG. 3, a schematic showsan overview of a method 300 for operation of the winch (e.g., winch 10shown in FIGS. 1-2). Instructions for carrying out method 300 may bestored in the memory of a control module of the winch (e.g., winchcontrol module 216 shown in FIG. 2). As such, the winch control modulemay carry out method 300. As discussed above, control signals may bereceived at the winch control module from a user input portion such as awired or wireless user interface including one or more of a display andseries of input buttons. In one example, the user interface of the winchmay be a remote user interface wirelessly coupled to the winch controlmodule. In another example, the winch user interface may be coupled to avehicle in which the winch is installed.

Method 300 begins at step 302 by powering on the winch followingreceiving a power-on signal at the winch control module from a manualswitch of the winch or various input buttons of the winch user interface(e.g., input buttons 234 shown in FIG. 2). Method 300 continues on tostep 304 at which point the winch control module receives a mode inputfrom the user. For example, a user may select a desired winch operationmode from a series of mode selections via the user interface. Thecontrol module may then receive a signal from the user interfacespecifying which operating mode has been selected. In one embodiment, amode must be selected in order for the winch to be operated. In thisembodiment, a standard mode may be chosen that would adjust operation ofthe winch based on a standard performance curve of the winch motor. Forexample, the winch control module may adjust winch motor operationwithin a series of standard motor voltage and current ranges based onwinch operating parameters. In one example, the standard operating modemay be a winching mode. In another embodiment, the winch control modulemay automatically engage in the standard operational mode if no modeinput is received.

Once a mode input is received at step 304 (or the standard operatingmode is automatically selected), method 300 proceeds to step 306 wherethe current and/or voltage supplied to the winch motor are adjusted topre-set levels by the winch control module, as further described furtherbelow by the methods in FIGS. 7 and 8, to provide a pulling force and/orspeed specified by the selected mode. For example, at 306, the winchcontrol module may adjust motor operation based on motor current and/orvoltage thresholds or operating ranges for each mode selection.Immediately thereafter, steps 308, 310, and 312 may be executedsimultaneously. The control module may measure: the load on the winch(e.g., winch rope tension or pulling force) at step 312, temperature ofthe winch motor at step 308, and the distance of a winch hook (e.g.,hook 28 shown in FIG. 1) to a winch fairlead (e.g., fairlead 30 shown inFIG. 1), also referred to herein as the hook proximity to the fairlead,at step 310. These parameters are measured using data gathered from aplurality of sensors, as described in greater detail by the methods inFIGS. 4-6. For example, the motor temperature at 308 may be measured bya motor temperature sensor (e.g., winch motor thermal sensor 206 shownin FIG. 2), the hook proximity at 310 may be measured by a hookproximity sensor (e.g., proximity sensor 210 shown in FIG. 2), and thewinch load and/or rope tension may be measured at least partially basedon a winch motor current and voltage sensor (e.g., current and voltagesensor 208 shown in FIG. 2).

At step 314, the winch control module determines if the winch motortemperature measured in step 308 is greater than a thresholdtemperature. If the motor temperature is greater than the thresholdtemperature, then method 300 proceeds to 322 to adjust the currentand/or voltage being supplied to the winch motor based on motortemperature. The method at 322 is shown in greater detail at FIG. 6,described further below.

At step 316, the winch control module determines if the hook is within athreshold distance of the fairlead. If is the hook is within thethreshold distance of the fairlead, then method 300 proceeds to 324where the winch control module adjusts the current and/or voltage beingsupplied to the winch motor based on the distance between the hook andfairlead. The method at 324 is shown in greater detail at FIG. 6,described further below.

At step 318, the winch control module determines if the load on thewinch is greater than a threshold load. In one example, the thresholdload may be a pre-set upper load threshold above which the winch ropemay break. If the winch load is greater than the threshold load, thenmethod 300 proceeds to 326 to adjust the current and/or voltage beingsupplied to the winch motor based on the load threshold (also referredto herein as a load limit). The method at 326 will be described infurther detail below with reference to FIG. 4. If the parametersmeasured in steps 308, 310, and 312 are determined in steps 314, 316,and 318 to not exceed any of their respective thresholds, then method300 proceeds to step 320 where current and/or voltage continues to besupplied to the winch motor based on the mode input received in step304. These aforementioned steps for monitoring motor temperature, hookproximity to the fairlead, and load amount may continue to be carriedout for the duration of winch operation. If at any point during winchoperation, one of the parameters measured in steps 308, 310 and 312 isdetermined in steps 314, 316, and 318 to exceed its correspondingthreshold, then method 300 may immediately proceed to adjust motoroperation based on the measured parameter. As an example, if at anypoint in time it is determined by the winch control module in step 314that the motor temperature measured in step 308 exceeds the thresholdtemperature, then method 300 will proceed directly to step 322 andadjust winch motor operation based on the threshold temperature. Thus,in steps 322, 324, and 326, the winch may no longer be operating in themode originally selected by the user but is instead operating in areduced performance setting based on the methods described in FIG. 4-6.However, the required motor current and/or voltage needed to support themode input received in step 304 may be supplied to the winch motor solong as neither motor temperature, load amount, nor hook distance tofairlead exceed (or fall below, as in the case of hook proximity) theirthreshold values.

It is important to note that the thresholds of steps 322, 324, or 326may be arrived at simultaneously or consecutively, that is at any timemore than one of the parameters being measured in steps 308, 310, and312 may be determined to be within or above their respective thresholds,as described above at 314, 316, and 318. In this case, steps 322, 324,and 326 may follow a scheduling priority based on which step has themost risk adverse precautionary response to its respective limit beingreached. For example, in step 322, in response to motor temperaturereaching its upper limit, the current and/or voltage supplied to themotor is reduced to a lower level. The same thing happens in steps 324and 326, but in response to the hook being within a threshold distanceof the fairlead and the load being within a threshold of an upperthreshold, respectively. While all steps 322, 324, and 326 involve areduction in the current and/or voltage supplied to the winch motor, themagnitude of that reduction may be different for each step. For examplein step 322, the reduction in the amount of current and/or voltagesupplied to the winch motor may be greater than in step 324 or 326 toensure that the motor does not overheat. Specifically, the step at 322may include reducing the current and/or voltage supplied to the winchmotor to a first level. Step 326 may reduce the amount of current and/orvoltage being supplied to the winch motor to a second level to avoidbreaking the rope. However, the second level may be higher than thefirst level. Finally, step 324 may reduce the current and/or voltagesupplied to the winch motor to a third level, the third level greaterthan the second level. The priority system amongst steps 322, 324, 326may then be determined based on which step involves the greatestreduction in current and/or voltage supplied to the motor. Thus, step322 takes precedence over steps 324 and 326, and step 326 takesprecedence over step 324. If any of steps 322, 324, or 326 are arrivedat simultaneously method 300 will determine the step of highest priorityand perform the actions described in that step. Said another way, thewinch control module may determine the maximum reduction in motorvoltage and/or current determined at any of steps 314, 316, and 318 andthen adjust the motor based on the maximum reduction value.

FIG. 4 illustrates a method 400 for adjusting a winch pulling force byadjusting the winch motor based on a pre-set load limit calibrated for asubset of winches. Instructions for carrying out method 400 may bestored in the memory of the winch control module (e.g., winch controlmodule 216 shown in FIG. 2). As such, the winch control module 216 maycarry out method 400. Method 400 may continue from step 312 in FIG. 3,described above.

Method 400 begins at 402 by estimating and/or measuring motor voltage,motor current drawn, winch drum rotational speed, and/or rope tension ofthe winch. In one example, motor current and motor voltage may bemeasured by a current and voltage sensor (e.g., current and voltagesensor 208) electrically coupled to the winch control module. Motorcurrent may correspond to the pulling force of the winch motor, therebyallowing winch load to be determined based on motor current Limiting theload of the winch below an upper threshold (or load limit), may reducethe risk of breaking the rope wound around the winch drum (e.g., cable18 shown in FIG. 1). Once the current and/or voltage are measured,method 400 proceeds to step 404 to determine if the measured current iswithin a threshold of an upper pre-set load limit. If the measuredcurrent is within the threshold of the upper pre-set load limit (whichmay correspond to an upper threshold current), method 400 proceeds tostep 408 to reduce the amount of current supplied to the winch motor toa level below the load limit. Otherwise, method 400 proceeds to step 406and continues to supply current to the winch motor 226 as needed (e.g.,as required by a selected winch operational mode).

In one example, the winch load limit may be a pre-determined and fixedvalue based on calibration testing amongst a subset of winches (e.g., asimilar size or type of winch). Thus, the load limit may be tailored toa specific type of winch rather than all types of winches. In anotherexample, a load limit relationship may be pre-determined andpre-programmed into the memory of the winch control module. The loadlimit may then be adjusted during winch operation based on winch and/orvehicle operating conditions. For example, as vehicle battery voltagedecreases, the load limit may also decrease. In yet another example, theload limit may be adjusted by a user via a user interface via a loadlimit input or based on an activity mode selection (as described furtherbelow with reference to FIG. 7). In a further example, the load limitmay be set by a vehicle CAN bus (e.g., CAN bus 252 shown in FIG. 2)and/or by vehicle signal wires (e.g., vehicle signal wires 240 shown inFIG. 2)

FIG. 5 shows a method 500 for adjusting the winch motor when the hook isbeing wound in (e.g., powering-in operation of the winch) and reaches athreshold distance from the fairlead. Method 500 continues from step 310of FIG. 3.

Method 500 begins with step 502 by determining the distance of the hookto the fairlead based on an output of a hook proximity sensor. In oneexample, the hook proximity sensor may include a magnetic sensorattached to the fairlead (e.g., fairlead 30 shown in FIG. 1) and amagnet attached to the hook (e.g. hook 28 shown in FIG. 1). At 504, thewinch control module determines if the hook is within a thresholddistance of the fairlead. In one example, the threshold distance may beset by a vehicle CAN bus (e.g., CAN bus 252 shown in FIG. 2) and/or byvehicle signal wires (e.g., vehicle signal wires 240 shown in FIG. 2).If the hook is not within the threshold distance of the fairlead, thenmethod 500 proceeds to step 506 and continues to wind in the rope (e.g.,cable 18 shown in FIG. 1) and hook at first speed. The first speed maybe a pre-set rotational speed of the drum (corresponding to a pre-setmotor speed). In this case, method 500 reverts back to step 502 andcontinues to measure the hook distance to the fairlead until the hookdoes reach the threshold distance. When the threshold distance betweenthe hook and the fairlead has been reached, method 500 continues on tostep 508 where the winch control module reduces the speed of the winchdrum to a second speed. The second speed is slower than the first speed.Reducing the winch drum speed from the first speed to the second speedmay be accomplished by reducing the voltage supplied to the winch motor.Since voltage corresponds to motor speed, reducing the voltage reducesthe speed of the winch motor and therefore the drum as well.

Method 500 then proceeds to step 510 where the tension in the rope isestimated by measuring the current from a current sensor and using aknown relationship between current and pulling force as explained above.Once the current is measured and the effective rope tension isdetermined, method 500 proceeds to 512 to determine if the tension inthe rope has reached a threshold level. If rope tension is not above thethreshold level, then method 500 proceeds to 514 where the cable andhook continue to be wound into the drum at the reduced second speed.Once it is determined that the rope has reached the rope tensionthreshold level, method 500 proceeds to step 516 where the winch motoris shut off.

FIG. 6 illustrates a method 600 for adjusting the winch motor based on awinch motor temperature. Method 600 may continue from step 308 of FIG.3.

Method 600 begins with step 602 by measuring the temperature of themotor using a thermal sensor (e.g., winch motor thermal sensor 206 shownin FIG. 2) and then proceeds to step 604 to determine if the measuredmotor temperature exceeds a first threshold temperature. In one example,the first threshold temperature may be set by a vehicle CAN bus (e.g.,CAN bus 252 shown in FIG. 2) and/or by vehicle signal wires (e.g.,vehicle signal wires 240 shown in FIG. 2). If the motor temperature isnot greater than the first threshold temperature, then method 600proceeds to step 606 and current/voltage continue to be supplied to thewinch motor in accordance with demands from user input. However, ifmeasured motor temperature exceeds the first threshold temperature, thenmethod 600 proceeds to step 608 where the current and/or voltagesupplied to the winch motor is reduced to some lower level. Thus,instead of being completely shut off, the winch motor continues tooperate in step 608, but at a reduced performance setting. At 608, thecontrol module adjusts motor voltage and/or current based on motortemperature, with the motor voltage and/or current decreasing withincreasing motor temperature.

Method 600 then proceeds to step 610 to determine if the measured motortemperature has reached a second threshold temperature, the secondthreshold higher than the first threshold. In one example, the secondthreshold temperature may be set by the vehicle CAN bus and/or by thevehicle signal wires. If the motor temperature is not greater than thesecond threshold temperature, then method 600 reverts back to step 608and continues to supply the winch motor with current and voltage at areduced pre-set level based on the motor temperature. If the motortemperature has reached (or is above) the second threshold temperature,then method 600 proceeds to 612 to turn off the motor and disable thewinch.

FIG. 7 illustrates a method 700 for adjusting the winch motor dependingon a selected activity mode of the winch. For example, a user may selectany one of several pre-programmed performance profiles or winch activitymodes. Each activity mode may include a set of customized winch current,voltage, load, and drum speed operating ranges. Operating parameters foreach of the winch activity modes and instructions for operating thewinch under each activity mode may be stored within a memory of thewinch control module. Method 700 may continue from step 302 of FIG. 3.

Method 700 begins with step 702 with the winch control module receivingan activity mode input selection via an activity mode selection switch.In one example, the activity mode selection switch may be incorporatedin the input buttons of the winch user interface. In another example,the activity mode selection switch may be presented via a user interfaceand then selectable via a single input button. Once the activity modeselection has been received at the winch control module, method 700proceeds to step 704 where the winch control modules adjusts the currentand/or voltage supplied to the winch motor based on the input selection.For example, the winch control module may adjust motor operation basedon motor operating ranges and/or thresholds for each activity mode.

Adjustments to motor operation based on example activity modes that maybe configured for the winch are shown at 706, 708, 710, 712, and 714. Itshould be noted that the winch may include additional or alternativeactivity modes to those described below. At 706, if a vehicle recoverymode is selected, a motor voltage limit (e.g., upper threshold) of thewinch motor may be adjusted to a recovery mode voltage limit (e.g.,upper threshold). In some examples, the recovery mode voltage limit ofthe winch motor may be greater than a standard motor voltage limit.Thus, the method at 706 may comprise increasing the motor voltage limitof the winch motor so that the voltage supplied to the winch motor issubstantially unrestricted. In this way, increasing the voltage limit ofthe winch motor may result in maximum winch motor speed so as to recoverthe vehicle as quickly as possible. In some examples, the method at 706may include not setting a motor voltage limit on the winch motor inresponse to the selection of the vehicle recovery mode. Increasing, orremoving the motor voltage limit may cause a corresponding increase inthe voltage supplied to the winch motor. Therefore, the method at 706may additionally or alternatively comprise increasing the voltagesupplied to the winch motor. In some examples, the voltage supplied tothe winch motor may be adjusted to a pre-set vehicle recovery voltagelevel. In one example, the pre-set vehicle recovery voltage level may behigher than a standard winching operational voltage level.

The method at 706 may additionally include adjusting a motor currentlimit of the winch motor to a vehicle recovery mode current limit. Insome examples, the vehicle recovery mode current limit may be the sameas a standard motor current limit which may be based on a load limit ofthe winch as described above with reference to FIG. 4, and/or a rope(e.g., cable 18 shown in FIG. 1) tension level as described above withreference to FIG. 5. Thus, the standard motor current limit may be acurrent level above which may result in degradation to the winch and/ormay cause the rope to break.

However, in other examples, the vehicle recovery mode current limit maybe less than the standard motor current limit. As such, in exampleswhere the vehicle recovery mode current limit is less than the standardmotor current limit, the method at 706 may include reducing the currentlimit from a standard motor current to the vehicle recovery mode currentlimit. Reducing the current limit may cause a corresponding decrease inthe current supplied to the winch motor. Therefore the method at 706 mayadditionally include reducing the current to the winch motor a pre-setvehicle recovery current level, where the vehicle recovery current levelmay be lower than a standard winching operation current level.

In another example, the method at 706 may alternatively compriseremoving a current limit on the winch motor, so that current supplied tothe winch motor may not be restricted in vehicle recovery mode.

If a plow mode is selected, at step 708 the winch control module mayreduce winch motor speed to a first level to allow the user finercontrol of the height of a plow blade which may be configured to be thefirst accessory 236 as seen in FIG. 2. To do this, the voltage suppliedto the winch motor may be reduced to a pre-set first level which may belower than the standard winching operational voltage. Meanwhile, thewinch pulling force may be adjusted to be slightly above the forcerequired to lift the plow blade. The amount of current required toprovide such force may be pre-determined based on testing andcalibrating a subset of winches.

If a custom load mode is selected, at step 710, the winch control moduleadjusts motor operation based on a load input by the user. For example,the user may input any desired load amount via input buttons of a winchuser interface. The control module may then adjust the current and/orvoltage supplied to the winch motor to deliver the force required forthe input load amount. The current necessary to deliver the desiredpulling force may be estimated by the winch control module 216 using aknown relationship between motor current and pulling force. It isimportant to note that the user may not be allowed to input a loadamount exceeding the upper pre-set load limit as described in method 400of FIG. 4.

If a constant load mode is selected, at step 712, the winch controlmodule may adjust the current and/or voltage supplied to the winch motorbased on method 800 described in FIG. 8, which relies on feedback from asensor such as a current and/or voltage sensor to ensure that the winchpulling force remains substantially constant.

If a constant speed mode is selected, at step 714, the winch controlmodule may adjust the current and/or voltage supplied to the winch motorbased on method 800 described in FIG. 8, which relies on feedback from asensor such as an angular position to ensure that the winch motor speedremains substantially constant.

FIG. 8 shows a method 800 of adjusting current and/or voltage to thewinch motor such that its speed and/or pulling force on the rope (e.g.,cable 18 shown in FIG. 1) are constant. Method 800 may continue fromstep 712 or 714 in FIG. 7 after receiving a user selection of a constantload or constant speed mode. Method 800 includes determining both thespeed of the rope and the pulling force being exerted on said rope basedon an estimated amount of rope wound around the winch drum.

Method 800 begins at step 802 by receiving a desired constant motorspeed or pulling force from user input via the input buttons 234. In oneexample, the desired constant motor speed or pulling force mayadditionally be received via user input of one of the activity modes,the selected activity mode including a pre-set constant motor speedand/or pulling force. Once this information is received by the winchcontrol module, method 800 proceeds to step 804 where the winch controlmodule determines the distance between the winch drum rotational axis(e.g., central axis of the drum) and the outermost layer of rope on thewinch drum. One way to determine this distance may be by means of anangular position sensor which could be placed either on the winch drum,or on the winch motor shaft. By counting the number of rotations of thewinch drum, and knowing both the thickness of the rope and the radius ofthe winch drum, the winch control module may be able to estimate thedistance from the drum axis to the outermost layer of rope. In oneexample, determining this distance may be done by multiplying thethickness of the rope by the number of rotations of the drum as measuredby the angular position sensor, and then adding this to the known radiusof the winch drum. This calculation could be done by an algorithmpre-programmed into the winch control module. Once this distance hasbeen determined, method 800 proceeds to step 806 to adjust the voltageand/or current supplied to the winch motor based on the determineddistance of winch drum axis to outermost layer of cable as determinedfrom step 804. In other embodiments, alternative sensors may be used todetermine the distance between the drum axis and outermost layer of ropewound around the winch drum. What follows next is an explanation of howthe current/and or voltage may be adjusted.

In order for the rope to be pulled in or let out at a constant speed,motor speed and therefore winch drum speed must be adjusted by means ofvoltage control since voltage directly corresponds to motor speed. Ifthe position at which the rope is pulled in or let out were fixed, thenit would always move at a constant speed so long as the winch drumrotated at a constant speed. But, the winch rope is instead wound aroundthe drum, thereby changing the amount of rope wound around the drum. Asan example, if all the rope is wound around the winch, the outermostlayer of rope is farther away from the central drum axis than theinnermost layer of cable. If the winch motor is then powered to let outthe rope, for each rotation of the drum, the outermost layer of rope hasto move a greater distance than the innermost layer and thus theoutermost layer of rope has a greater speed than the innermost layer ofrope. In other words, a constant rotational speed of the winch drum doesnot translate to constant linear speed of the rope, because theeffective turning radius changes depending upon how much rope is woundaround the drum. Thus, if in the example above, the rope were to beunwound from the drum at a constant speed, the drum's rotational speedwould have to start at some level and gradually increase as the cableunwinds. A relationship may be pre-programmed into the winch controlmodule to estimate the voltage required to adjust the rotational speedof the drum such that the linear speed of the rope is kept substantiallyconstant. This relationship may use feedback from the angular positionsensor as to the amount of rope wound around the drum in order toestimate the effective turning radius of the drum and therefore thelinear speed of the unwound rope.

To provide a constant pulling force, a similar method may be used. Thetorque and therefore pulling force exerted on the unwound portion of therope by the winch drum is a function of the distance from the drum axisto the outermost layer of rope wound on the drum. The bigger thisdistance, the greater the torque. As an example, if the rope is beingwound into the drum, and the current being supplied to the winch motoris constant, the pulling force exerted on the unwound portion of ropewill increase as the rope continues to be wound in because the distancebetween the drum rotational axis and the outermost layer of rope willincrease as more and more rope is wound around the drum. Thus, arelationship may be pre-programmed in the winch control module todetermine the effective pulling force on the rope based on the distancefrom the drum rotational axis to the outermost layer of rope asdetermined by feedback from the angular position sensor. The winchcontrol module may then determine how the current supplied to the winchmotor should be adjusted to maintain the constant pulling force based onthe change in torque exerted on the rope as it is either wound in orout.

In this way, winch operation may be tailored to match the specific needsof a plurality of winch activities while at the same time offering a setof safety measures that protect not only the user, but also the winchand its parts from damage. A non-adjustable winch may perform poorly foractivities demanding speeds and pulling forces different than what itwas programmed for. The current invention however, may provide increasedperformance across a range of activities. For example, when lifting aplow blade, traditional winches may lift the plow blade too fast for auser to have much control over the blade because the voltage beingsupplied to the winch motor is not adjustable. Instead, by operating ina plow mode, different than a standard winching mode, as describedabove, the voltage delivered to the winch motor may be reduced to alevel that would allow finer control of the plow blade. Not only wouldusers be allowed to select from a range of activity modes with pre-setpower settings appropriate for that activity, but the user would also beable to create custom modes which would allow them to input specificload amounts so that the winch performance could be further optimizedfor any load amount. In addition, the constant speed and load modeswould offer a benefit to users when they want to pull something, forexample a fence, and stretch it without breaking it. Not only would thepresent invention offer an adaptable winch, but it would also offer asafer winch, less prone to damage. Several pre-set safety thresholds(e.g., load, temperature, and hook proximity) may be established for thewinch such that if these safety thresholds are reached during operation,the winch control module may automatically engage in precautionarymeasures. For example, if motor temperatures reach a certain threshold,power supplied to the motor may be reduced so as to not overheat anddamage the motor, while still allowing the user to operate the winch ata reduced performance setting. If motor temperature reaches an evenhigher upper threshold, then the motor is powered off to reduce damageto the motor. By adjusting winch motor operation based on thresholdoperational ranges, along with selected activity mode setting, atechnical effect of the invention is achieved and the lifetime of thewinch may be increased. As a result, the winch may also be optimized forperformance across a range of activities, and equipped with mechanismsfor increased safety and longevity.

As one embodiment, a system for a winch comprises a controller adaptedto adjust operation of a motor of the winch based on a load limit, theload limit automatically set by the controller to different levelsdepending on a mode of the winch. For example, the controller mayinclude computer readable instructions stored within a non-transitorymemory of the system for adjusting operation of the motor of the winchas explained above and below. As one example, the mode is based on anoperator-selected mode from among a limited set of available modes. Forexample, the available modes may include each of a winching mode and aplowing mode. In another example, the available modes may include eachof a winching mode, a plowing mode, a constant load mode, and a constantspeed mode. The load limit may correspond to an upper threshold currentsupply to the motor and the controller may be further adapted to adjustone or more of the current supply or voltage of the motor to a levelbelow the load limit.

In one example, the mode is received by the controller from a userinterface of the winch via an activity mode selection selected via auser, the activity mode selection including one or more of a pre-setmotor voltage operating range or motor current operating range, themotor voltage operating range corresponding to a motor speed range andthe current operating range corresponding to a motor pulling forcerange. In another example, the activity mode selection includes one of avehicle recovery mode including an increased motor voltage limitcompared to a standard winch operating motor voltage limit, a plow modeincluding instructions to operate the motor at a first speed and adjustthe motor to a threshold pulling force, the first speed lower than astandard winch operating motor speed, a custom mode includinginstructions to operate the motor to deliver a pulling force based onthe load limit, a constant load mode including instructions to adjust avoltage and current supply to the motor in order to deliver a constantload input by the user, and a constant speed mode including instructionsto adjust a voltage and current supply to the motor in order to delivera constant speed input by the user.

In another example, the controller is further adapted to adjust one ormore of the voltage and current supply to the motor based on a distancebetween a rotational axis of the drum and an outermost rope layer woundaround the drum when the winch is operating in one of a constant speedmode or constant load mode. In another example, the controller isfurther adapted to adjust operation of the motor based on a distance ofa hook coupled to an end of a rope of the winch to a winch fairlead, thedistance of the hook to the winch fairlead based on an output of a hookproximity sensor positioned on the hook and winch fairlead, where theadjusting operation of the motor based on the distance of the hookincludes adjusting one or more of a current or voltage supply of themotor in order to reduce a speed of the drum from a first speed to asecond speed in response to the hook being within a threshold distanceof the winch fairlead, the second speed lower than the first speed. Inyet another example, the controller is further adapted to turn off themotor when a rope tension of the rope is at or above threshold level,the rope tension based on a current supply to the motor. In anotherexample, the controller is further adapted to: in response to atemperature of the motor increasing above a first threshold level,operate the motor at a reduced performance setting and adjust one ormore of a voltage and current supply to the motor based on thetemperature of the motor. In yet another example, the controller isfurther adapted to: decrease one or more of the voltage and currentsupply to the motor as the temperature of the motor increases furtherabove the first threshold level; and turn off the motor and disable thewinch in response to the temperature of the motor increasing above asecond threshold level, the second threshold level higher than the firstthreshold level.

As another embodiment, a method for a winch comprises adjusting a motorof the winch based on a pre-set load limit of the winch; receiving auser input including a second load limit at a user interface of thewinch; adjusting the motor of winch based on the user input includingthe second load limit and not based on the pre-set load limit if thesecond load limit is different than the pre-set load limit; and furtheradjusting the motor based on one or more of a first distance of a hookof the winch from a winch fairlead, a temperature of the motor, and asecond distance from a central axis of a drum of the winch to an outerlayer of a rope of the winch. As one example, the pre-set load limit isone or more of an upper threshold supply current or voltage to the motorand the pre-set load limit is a calibrated load limit for a subset ofwinches.

In another example, the method further comprises decreasing one or moreof a current or voltage supplied to the motor from a first level to asecond level when the temperature of the motor is greater than a firstthreshold temperature, the second level decreasing with increasingtemperature of the motor. The method may further comprise disabling themotor when the temperature of the motor is greater than a secondthreshold temperature, the second threshold temperature greater than thefirst threshold temperature. In yet another example, the hook ispositioned at an end of a rope of the winch, the rope wound around thedrum of the winch and the method may further comprise reducing a speedof the motor from a first speed to a second speed in response to thefirst distance being less than a first threshold distance. In anotherexample, the method comprises disabling power to the motor when the ropeis tensioned to a threshold level and adjusting one or more of a voltageor current of the motor based on the second distance in order tomaintain a constant desired motor speed or load. As an example, theconstant desired motor speed load is one of a constant motor speed orload input manually by a user at a user interface of the winch or aconstant motor speed or load corresponding to an activity mode selectedby the user at the user interface.

As yet another embodiment, a winch comprises a drum including a ropewound around an outer surface of the drum; a motor driving rotation ofthe drum about a central axis; and a controller adapted to adjust one ormore of a speed and pulling force of the motor based on a temperature ofthe motor and a user input at a user interface of the winch, the userinput including motor operating parameters. In one example, the winchfurther includes a hook positioned at an end of the rope and a fairleadpositioned in front of the drum and the controller is further adapted toadjust one or more of the speed and pulling force of the motor based ona first distance of the hook from the fairlead and a second distancefrom the central axis to an outer layer of the rope around the drum. Inanother example, the motor operating parameters include one or more of aload limit, an upper threshold motor voltage, an upper threshold motorcurrent, or a motor speed.

It will be appreciated that the configurations and routines disclosedherein are exemplary in nature, and that these specific embodiments arenot to be considered in a limiting sense, because numerous variationsare possible. The subject matter of the present disclosure includes allnovel and non-obvious combinations and sub-combinations of the varioussystems and configurations, and other features, functions, and/orproperties disclosed herein.

The following claims particularly point out certain combinations andsub-combinations regarded as novel and non-obvious. These claims mayrefer to “an” element or “a first” element or the equivalent thereof.Such claims should be understood to include incorporation of one or moresuch elements, neither requiring nor excluding two or more suchelements. Other combinations and sub-combinations of the disclosedfeatures, functions, elements, and/or properties may be claimed throughamendment of the present claims or through presentation of new claims inthis or a related application. Such claims, whether broader, narrower,equal, or different in scope to the original claims, also are regardedas included within the subject matter of the present disclosure.

The invention claimed is:
 1. A system for a winch, comprising: acontroller adapted to adjust operation of a motor of the winch based ona load limit, the load limit automatically set by the controller todifferent levels depending on a mode of the winch, wherein the loadlimit corresponds to one or more of an upper threshold voltage supplyand an upper threshold current supply to the motor.
 2. The system ofclaim 1, wherein the mode is based on an operator-selected mode fromamong a limited set of available modes.
 3. The system of claim 2,wherein the limited set of available modes includes each of a winchingmode and a plowing mode.
 4. The system of claim 2, wherein the limitedset of available modes includes each of a winching mode, a plowing mode,a constant load mode, and a constant speed mode.
 5. The system of claim1, wherein the load limit corresponds to the upper threshold currentsupply to the motor, and wherein the controller is further adapted toadjust one or more of a voltage supply and a current supply to the motorto a level below the load limit.
 6. The system of claim 1, wherein anindication of the mode is received by the controller from a userinterface of the winch via an activity mode selection selected via auser, the activity mode selection including one or more of a pre-setmotor voltage operating range and a pre-set motor current operatingrange, the pre-set motor voltage operating range corresponding to amotor speed range and the pre-set motor current operating rangecorresponding to a motor pulling force range.
 7. The system of claim 6,wherein the activity mode selection includes one of a vehicle recoverymode including instructions to operate the motor at an increased motorvoltage limit compared to a pre-set winch operating motor voltage limit,a plow mode including instructions to operate the motor at a first speedand adjust the motor to a threshold pulling force, the first speed lowerthan a pre-set winch operating motor speed, a custom mode includinginstructions to operate the motor to deliver a pulling force based onthe load limit, a constant load mode including instructions to adjust avoltage supply or a current supply to the motor in order to deliver aconstant load input by the user, and a constant speed mode includinginstructions to adjust the voltage supply or the current supply to themotor in order to deliver a constant speed input by the user.
 8. Thesystem of claim 1, wherein the controller is further adapted to adjustone or more of a voltage supply and a current supply to the motor basedon a distance between a rotational axis of a drum and an outermost ropelayer wound around the drum when the winch is operating in one of aconstant speed mode or constant load mode.
 9. The system of claim 1,wherein the controller is further adapted to adjust operation of themotor based on a distance of a hook coupled to an end of a rope of thewinch to a winch fairlead, the distance of the hook to the winchfairlead based on an output of a hook proximity sensor positioned on thehook and winch fairlead, wherein the adjusting operation of the motorbased on the distance of the hook includes adjusting one or more of avoltage supply and a current supply to the motor in order to reduce aspeed of a drum from a first speed to a second speed in response to thehook being within a threshold distance of the winch fairlead, the secondspeed lower than the first speed.
 10. The system of claim 1, wherein thecontroller is further adapted to turn off the motor when a rope tensionof a rope is at or above a threshold level, the rope tension determinedbased on a current supply to the motor.
 11. The system of claim 1,wherein the controller is further adapted to: in response to atemperature of the motor increasing above a first threshold level,operate the motor at a reduced performance setting and adjust one ormore of a voltage supply and a current supply to the motor based on thetemperature of the motor.
 12. The system of claim 11, wherein thecontroller is further adapted to: decrease one or more of the voltagesupply and the current supply to the motor as the temperature of themotor increases further above the first threshold level; and turn offthe motor and disable the winch in response to the temperature of themotor increasing above a second threshold level, the second thresholdlevel higher than the first threshold level.
 13. A method for a winch,comprising: adjusting a motor of the winch based on a pre-set load limitof the winch, wherein the pre-set load limit corresponds to one or moreof an upper threshold voltage supply and an upper threshold currentsupply to the motor; receiving a user input including a second loadlimit at a user interface of the winch; adjusting the motor of the winchbased on the user input including the second load limit and not based onthe pre-set load limit if the second load limit is different than thepre-set load limit; and further adjusting the motor based on one or moreof a first distance of a hook of the winch to a winch fairlead, atemperature of the motor, and a second distance from a central axis of adrum of the winch to an outer layer of a rope of the winch.
 14. Themethod of claim 13, wherein the pre-set load limit is a calibrated loadlimit for a subset of winches.
 15. The method of claim 13, furthercomprising decreasing one or more of a voltage supply and a currentsupply to the motor from a first level to a second level when thetemperature of the motor is greater than a first threshold temperature,the second level decreasing with increasing temperature of the motor,and further comprising disabling the motor when the temperature of themotor is greater than a second threshold temperature, the secondthreshold temperature greater than the first threshold temperature. 16.The method of claim 13, wherein the hook is positioned at an end of arope of the winch, the rope wound around the drum of the winch andfurther comprising reducing a speed of the motor from a first speed to asecond speed in response to the first distance being less than a firstthreshold distance.
 17. The method of claim 13, further comprisingdisabling power to the motor when the rope is tensioned to a thresholdlevel and further comprising adjusting one or more of a voltage supplyand a current supply to the motor based on the second distance in orderto maintain a constant desired motor speed or load and wherein theconstant desired motor speed or load is one of a constant motor speed orload input manually by a user at a user interface of the winch or aconstant motor speed or load corresponding to an activity mode selectedby the user at the user interface.
 18. A winch, comprising: a drumincluding a rope wound around an outer surface of the drum; a motordriving rotation of the drum about a central axis; and a controlleradapted to adjust one or more of a speed and pulling force of the motorbased on a temperature of the motor and a user input at a user interfaceof the winch, the user input including motor operating parameters. 19.The winch of claim 18, wherein the winch further includes a hookpositioned at an end of the rope and a fairlead positioned in front ofthe drum and wherein the controller is further adapted to adjust one ormore of the speed and pulling force of the motor based on a firstdistance of the hook from the fairlead and a second distance from thecentral axis to an outer layer of the rope around the drum.
 20. Thewinch of claim 18, wherein the motor operating parameters include one ormore of a load limit, an upper threshold motor voltage, an upperthreshold motor current, or a motor speed.